CN115202350B - Automatic conveying system of AGV dolly - Google Patents
Automatic conveying system of AGV dolly Download PDFInfo
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Abstract
The invention discloses an automatic transport system of an AGV trolley, relates to the technical field of automatic transport, and solves the technical problems that when the AGV trolley carelessly encounters an obstacle, the AGV trolley is difficult to bypass and reach a target point by itself, and time, manpower and material resources are wasted; the AGV position data and the video data are collected through the data collection module; transmitting the position data and the video data to an intelligent transportation module; the intelligent transportation module receives the position data and the video data, and acquires the advancing route of the AGV according to the position data and the video data; the automatic planning of the forward route of the AGV trolley is realized, and the transportation work is completed; receiving an obstacle avoidance signal through the obstacle avoidance module, acquiring an obstacle coordinate, and acquiring a target deflection angle according to the obstacle coordinate; the target deflection angle is sent to the intelligent transportation module; realize the AGV dolly at the in-process of advancing, avoid the barrier voluntarily, improved the work efficiency of AGV dolly.
Description
Technical Field
The invention belongs to the field of AGV trolleys, relates to an automatic conveying technology, and particularly relates to an automatic conveying system of an AGV trolley.
Background
AutomatedGuidedVehicle, also commonly referred to as AGV trolley, refers to a transport vehicle equipped with an automatic guidance device such as electromagnetic or optical, capable of traveling along a prescribed guidance path, having safety protection and various transfer functions, and not requiring a driver's transport vehicle in industrial applications, and having a rechargeable battery as its power source.
The AGV trolley is remarkably characterized in that the AGV trolley is unmanned, an automatic guiding system is arranged on the AGV, the system can be ensured to automatically run along a preset route without manual navigation, and goods or materials are automatically conveyed to a destination from a starting point. The AGV has the advantages of good flexibility, high automation degree and high intelligent level, the running path of the AGV can be flexibly changed according to the storage position requirement, the production process flow and the like, and the cost for changing the running path is very low compared with that of a traditional conveying belt and a rigid conveying line. AGVs are commonly equipped with handling mechanisms that can automatically interface with other logistics equipment to achieve full process automation of cargo and material handling and transport. In addition, the AGV still has clean production's characteristics, and the AGV relies on the battery that takes certainly to provide power, and noiseless, the pollution-free in the operation process can be applied in many places that require operational environment clean.
Along with the rapid development of artificial intelligence, the intellectualization of various industries is more and more obvious. However, there are drawbacks to the degree of intelligence involved in autonomous navigation of an AGV cart. In some places such as factories, laboratories or research institutions needing to transport a large amount of objects by using the AGV, when the AGV self-navigation carelessly encounters an obstacle, the AGV is difficult to bypass and reach a target point by itself, and thus a large amount of time, manpower and material resources are wasted.
For this purpose, an automatic transport system for AGV carts is proposed.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides an automatic transport system of an AGV trolley, which solves the problems that the AGV trolley is difficult to bypass and reach a target point by itself when the AGV trolley carelessly encounters an obstacle, and time, manpower and material resources are wasted.
To achieve the above objective, an embodiment according to a first aspect of the present invention provides an automatic transport system for an AGV cart, including a data acquisition module, an intelligent transport module, and an obstacle avoidance module; the information interaction is carried out between the modules based on the mode of digital signals;
the data acquisition module is used for acquiring position data and video data of the AGV trolley;
and transmitting the location data and the video data to the intelligent transportation module;
the intelligent transportation module is used for receiving the position data and the video data and acquiring an advancing route of the AGV according to the position data and the video data;
the obstacle avoidance module is used for receiving an obstacle avoidance signal, acquiring an obstacle coordinate and acquiring a target deflection angle according to the obstacle coordinate;
and sending the target deflection angle to the intelligent transportation module.
Preferably, the data acquisition module comprises an infrared camera and a positioning device;
the infrared camera is fixedly arranged on a high point of the AGV trolley;
the positioning device is fixedly arranged at the middle position of the AGV trolley.
Preferably, the data acquisition module acquires position data and video data of the AGV trolley, and the specific process comprises the following steps:
setting an acquisition period, wherein the acquisition period is marked as T and the unit is seconds; wherein T is a real number greater than 0;
the positioning device acquires the position of the AGV trolley once every TS, and acquires the position data of the trolley;
the infrared camera collects video data of H meters in front of the AGV once every TS, and the video data is marked as SP i ；
And sending the position data and the video data to the intelligent transportation module.
Preferably, in this embodiment, the intelligent transportation module establishes a two-dimensional model rectangular coordinate system of the factory according to a design drawing of the factory, and the specific process includes:
the transportation platform obtains a design drawing of a factory; wherein the design drawing comprises a factory shape, a structure, a size and the like;
establishing a two-dimensional model of the factory according to the design drawing;
dividing the two-dimensional model into areas according to preset rules to obtain a goods shelf area and an inventory area;
establishing a rectangular coordinate system in the two-dimensional model, marking the position of an entrance of a goods shelf area, acquiring the goods shelf coordinates of the goods shelf area, and marking the goods shelf coordinates as S Frame (x Frame ，y Frame )；
Marking the position of the stock area, acquiring the coordinates of the stock area, wherein the coordinates of the stock area are marked as S Storing the articles (x Storing the articles ，y Storing the articles )。
Preferably, the intelligent transportation module receives the position data and the video data, and obtains the advancing route of the AGV according to the position data and the video data, and the specific process includes:
the intelligent transportation module receives the location data;
acquiring position coordinates according to the position of the AGV and the two-dimensional model of the factory, wherein the position coordinates are marked as A i (x i ，y i ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein, the value of i is 0,1,2 and … … n;
the intelligent transportation module acquires initial coordinates A of the AGV trolley according to the position coordinates 0 (x 0 ，y 0 )；
Acquiring a goods taking path of the AGV according to the initial coordinates and the goods shelf coordinates;
when the AGV trolley moves forwards according to the goods taking path, the intelligent transportation module detects whether an obstacle appears in the video data;
no obstacle exists, and the AGV trolley continues to advance;
the AGV stops advancing and sends an obstacle avoidance signal to the obstacle avoidance module to acquire a target deflection angle;
controlling the AGV trolley to turn according to the target deflection angle, continuously moving along a straight line, stopping moving when the AGV trolley moves to a position parallel to the obstacle, and acquiring the current position coordinate;
acquiring a new goods taking path of the AGV according to the position coordinates and the goods shelf coordinates, and enabling the AGV to move forwards according to the new goods taking path;
acquiring a delivery path of the AGV according to the goods shelf coordinates and the inventory zone coordinates,
when the AGV trolley moves forwards according to the delivery path, the intelligent transportation module detects whether an obstacle appears in the video data;
no obstacle exists, and the AGV trolley continues to advance;
the AGV stops advancing and sends an obstacle avoidance signal to the obstacle avoidance module to acquire a target deflection angle;
controlling the AGV trolley to turn according to the target deflection angle, continuously moving along a straight line, stopping moving when the AGV trolley moves to a position parallel to the obstacle, and acquiring the current position coordinate;
and acquiring a new delivery path of the AGV according to the position coordinates and the inventory zone coordinates, and moving the AGV forward according to the new delivery path.
Preferably, the obstacle avoidance module comprises a laser radar;
the laser radar is installed at the front end of the AGV trolley.
Preferably, the obstacle avoidance module receives an obstacle avoidance signal, acquires an obstacle coordinate, and acquires a target deflection angle according to the obstacle coordinate, and the specific process includes:
after the obstacle avoidance module receives the obstacle avoidance signal, acquiring an obstacle coordinate according to the laser radar; wherein the obstacle coordinates include an obstacle left coordinate and an obstacle right coordinate;
the left coordinate of the obstacle is marked as Z Left side (x Left side ，y Left side )；
The right coordinate of the obstacle is marked as Z Right side (x Right side ，y Right side )；
Setting a standard deflection distance, wherein the standard deflection distance is marked as D Label (C) The unit is m; wherein D is a real number larger than 0, and the standard deflection distance professional sets according to actual conditions;
obtaining a deflection left coordinate according to the left coordinate of the obstacle and a standard deflection distance, wherein the deflection left coordinate is P Left side (x Left side -D Label (C) ，y Left side )；
Obtaining a deflection right coordinate according to the right coordinate of the obstacle and the standard deflection distance, wherein the deflection right coordinate is P Right side (x Right side +D Label (C) ，y Right side )；
When the goods are taken, the < 1 > is obtained through an inverse trigonometric function according to the position coordinates and the goods shelf coordinates of the AGV trolley;
the calculation formula of the angle 1 is as follows: angle 1 = arctan [ (y) Driving device -y i )/(x Driving device -x i )]；
During inventory, acquiring < 1 > through an inverse trigonometric function according to the position coordinates of the AGV trolley and the inventory area coordinates;
the calculation formula of the angle 1 is as follows: angle 1 = arctan [ (y) Storing the articles -y i )/(x Storing the articles -x i )]；
Acquiring +.2 through an inverse trigonometric function according to the position coordinates of the AGV and the left coordinates of the obstacle;
the calculation formula of the angle 2 is as follows: angle 2 = arctan [ (y) Left side -y i )/(x Left side -D Label (C) -x i )]；
Acquiring +.3 through an inverse trigonometric function according to the position coordinates of the AGV and the right coordinates of the obstacle;
the calculation formula of the angle 3 is that the angle 3=arctan [ (y) Right side -y i )/(x Right side +D Label (C) -x i )]；
Acquiring a left deflection angle according to the angle 1 and the angle 2;
the calculation formula of the left deflection angle is as follows: left deflection angle = -2-1;
acquiring a right deflection angle according to the angles 1 and 3;
the calculation formula of the right deflection angle is as follows: left deflection angle = -1-3;
setting a deflection angle threshold;
judging whether the left deflection angle and the right deflection angle exceed a deflection angle threshold value or not;
the left deflection angle and the right deflection angle exceed deflection angle thresholds, the obstacle avoidance module sends an obstacle signal to an intelligent terminal of a forklift operator, the forklift operator moves the obstacle, after the obstacle is cleared, the forklift operator sends an obstacle clearing signal to an AGV trolley through the intelligent terminal, and the AGV trolley continues to move forward according to an original path;
the left deflection angle is in the deflection angle threshold range, the right deflection angle exceeds the deflection angle threshold, and the left deflection angle is selected as a target deflection angle;
the right deflection angle is in the deflection angle threshold range, the left deflection angle exceeds the deflection angle threshold, and the right deflection angle is selected as a target deflection angle;
the left deflection angle and the right deflection angle are both in the deflection angle threshold range, and the deflection angle with a smaller deflection angle is selected as a target deflection angle;
and sending the target deflection angle to the intelligent transportation module.
Preferably, the intelligent terminal comprises a smart phone and a computer.
Preferably, the data acquisition module is in communication and/or electrical connection with the intelligent transportation module;
the intelligent transportation module is in communication and/or electrical connection with the obstacle avoidance module.
Compared with the prior art, the invention has the beneficial effects that:
the AGV position data and the video data are collected through the data collection module; transmitting the position data and the video data to an intelligent transportation module; the intelligent transportation module receives the position data and the video data, and acquires the advancing route of the AGV according to the position data and the video data; the automatic planning of the forward route of the AGV trolley is realized, and the transportation work is completed;
receiving an obstacle avoidance signal through the obstacle avoidance module, acquiring an obstacle coordinate, and acquiring a target deflection angle according to the obstacle coordinate; the target deflection angle is sent to the intelligent transportation module; realize the AGV dolly at the in-process of advancing, avoid the barrier voluntarily, improved the work efficiency of AGV dolly.
Drawings
Fig. 1 is a schematic diagram of the present invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, an automatic transport system of an AGV trolley includes a data acquisition module, an intelligent transport module, and an obstacle avoidance module; the information interaction is carried out between the modules based on the mode of digital signals;
the data acquisition module is used for acquiring position data and video data of the AGV trolley;
and transmitting the location data and the video data to the intelligent transportation module;
the intelligent transportation module is used for receiving the position data and the video data and acquiring an advancing route of the AGV according to the position data and the video data;
the obstacle avoidance module is used for receiving an obstacle avoidance signal, acquiring an obstacle coordinate and acquiring a target deflection angle according to the obstacle coordinate;
and sending the target deflection angle to the intelligent transportation module.
In this embodiment, the data acquisition module includes an infrared camera and a positioning device;
the infrared camera is fixedly arranged on a high point of the AGV trolley;
the positioning device is fixedly arranged at the middle position of the AGV trolley.
The data acquisition module acquires position data and video data of the AGV trolley, and the specific process comprises the following steps:
setting an acquisition period, wherein the acquisition period is marked as T and the unit is seconds; wherein T is a real number greater than 0;
the positioning device acquires the position of the AGV trolley once every TS, and acquires the position data of the trolley;
the infrared camera collects video data of H meters in front of the AGV once every TS, and the video data is marked as SP i ；
And sending the position data and the video data to the intelligent transportation module.
In this embodiment, the intelligent transportation module establishes a two-dimensional model rectangular coordinate system of a factory according to a design drawing of the factory, and the specific process includes:
the transportation platform obtains a design drawing of a factory; wherein the design drawing comprises a factory shape, a structure, a size and the like;
establishing a two-dimensional model of the factory according to the design drawing;
dividing the two-dimensional model into areas according to preset rules to obtain a goods shelf area and an inventory area;
establishing a rectangular coordinate system in the two-dimensional model, marking the position of an entrance of a goods shelf area, acquiring the goods shelf coordinates of the goods shelf area, and marking the goods shelf coordinates as S Frame (x Frame ，y Frame )；
Marking the position of the stock area, acquiring the coordinates of the stock area, wherein the coordinates of the stock area are marked as S Storing the articles (x Storing the articles ，y Storing the articles )；
It should be noted that most factories are designed as regular rectangles, with one corner of the factory as the origin of the coordinate system, the length of the factory as the horizontal axis of the coordinate system, and the width of the factory as the vertical axis of the coordinate system.
The intelligent transportation module receives the position data and the video data, and obtains an advancing route of the AGV according to the position data and the video data, wherein the specific process comprises the following steps:
the intelligent transportation module receives the location data;
acquiring position coordinates according to the position of the AGV and the two-dimensional model of the factory, wherein the position coordinates are marked as A i (x i ，y i ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein, the value of i is 0,1,2 and … … n; it should be further noted that A 0 (x 0 ，y 0 ) The position of the AGV trolley is acquired for the first time, namely the initial position of the AGV trolley;
the intelligent transportation module acquires initial coordinates A of the AGV trolley according to the position coordinates 0 (x 0 ，y 0 )；
Acquiring a goods taking path of the AGV according to the initial coordinates and the goods shelf coordinates;
when the AGV trolley moves forwards according to the goods taking path, the intelligent transportation module detects whether an obstacle appears in the video data;
no obstacle exists, and the AGV trolley continues to advance;
the AGV stops advancing and sends an obstacle avoidance signal to the obstacle avoidance module to acquire a target deflection angle;
controlling the AGV trolley to turn according to the target deflection angle, continuously moving along a straight line, stopping moving when the AGV trolley moves to a position parallel to the obstacle, and acquiring the current position coordinate;
acquiring a new goods taking path of the AGV according to the position coordinates and the goods shelf coordinates, and enabling the AGV to move forwards according to the new goods taking path;
acquiring a delivery path of the AGV according to the goods shelf coordinates and the inventory zone coordinates,
when the AGV trolley moves forwards according to the delivery path, the intelligent transportation module detects whether an obstacle appears in the video data;
no obstacle exists, and the AGV trolley continues to advance;
the AGV stops advancing and sends an obstacle avoidance signal to the obstacle avoidance module to acquire a target deflection angle;
controlling the AGV trolley to turn according to the target deflection angle, continuously moving along a straight line, stopping moving when the AGV trolley moves to a position parallel to the obstacle, and acquiring the current position coordinate;
acquiring a new delivery path of the AGV according to the position coordinates and the inventory zone coordinates, and moving the AGV forwards according to the new delivery path;
it should be further noted that, the straight line between the two points is the shortest, so that the pickup path is a straight line path between the initial coordinates and the shelf coordinates; the delivery path is a straight line path between the exit coordinates and the inventory zone coordinates.
In this embodiment, the obstacle avoidance module includes a lidar;
the laser radar is installed at the front end of the AGV trolley.
The obstacle avoidance module receives an obstacle avoidance signal, acquires an obstacle coordinate, and acquires a target deflection angle according to the obstacle coordinate, wherein the specific process comprises the following steps of:
after the obstacle avoidance module receives the obstacle avoidance signal, acquiring an obstacle coordinate according to the laser radar; wherein the obstacle coordinates include an obstacle left coordinate and an obstacle right coordinate;
the left coordinate of the obstacle is marked as Z Left side (x Left side ，y Left side )；
The right coordinate of the obstacle is marked as Z Right side (x Right side ，y Right side )；
Setting a standard deflection distance, wherein the standard deflection distance is marked as D Label (C) The unit is m; wherein D is a real number larger than 0, and the standard deflection distance professional sets according to actual conditions;
obtaining a deflection left coordinate according to the left coordinate of the obstacle and a standard deflection distance, wherein the deflection left coordinate is P Left side (x Left side -D Label (C) ，y Left side )；
When the goods are taken, the < 1 > is obtained through an inverse trigonometric function according to the position coordinates and the goods shelf coordinates of the AGV trolley;
the calculation formula of the angle 1 is as follows: angle 1 = arctan [ (y) Driving device -y i )/(x Driving device -x i )]；
During inventory, acquiring < 1 > through an inverse trigonometric function according to the position coordinates of the AGV trolley and the inventory area coordinates;
the calculation formula of the angle 1 is as follows: angle 1 = arctan [ (y) Storing the articles -y i )/(x Storing the articles -x i )]；
Acquiring +.2 through an inverse trigonometric function according to the position coordinates of the AGV and the left coordinates of the obstacle;
the calculation formula of the angle 2 is as follows: angle 2 = arctan [ (y) Left side -y i )/(x Left side -D Label (C) -x i )]；
Acquiring +.3 through an inverse trigonometric function according to the position coordinates of the AGV and the right coordinates of the obstacle;
the calculation formula of the angle 3 is that the angle 3=arctan [ (y) Right side -y i )/(x Right side +D Label (C) -x i )]；
Acquiring a left deflection angle according to the angle 1 and the angle 2;
the calculation formula of the left deflection angle is as follows: left deflection angle = -2-1;
acquiring a right deflection angle according to the angles 1 and 3;
the calculation formula of the right deflection angle is as follows: left deflection angle = -1-3;
acquiring a right deflection angle through the existing angle calculation formula according to the deflection right coordinate and the position coordinate of the AGV;
setting a deflection angle threshold;
judging whether the left deflection angle and the right deflection angle exceed a deflection angle threshold value or not;
the left deflection angle and the right deflection angle exceed deflection angle thresholds, the obstacle avoidance module sends an obstacle signal to an intelligent terminal of a forklift operator, the forklift operator moves the obstacle, after the obstacle is cleared, the forklift operator sends an obstacle clearing signal to an AGV trolley through the intelligent terminal, and the AGV trolley continues to move forward according to an original path;
the left deflection angle is in the deflection angle threshold range, the right deflection angle exceeds the deflection angle threshold, and the left deflection angle is selected as a target deflection angle;
the right deflection angle is in the deflection angle threshold range, the left deflection angle exceeds the deflection angle threshold, and the right deflection angle is selected as a target deflection angle;
the left deflection angle and the right deflection angle are both in the deflection angle threshold range, and the deflection angle with a smaller deflection angle is selected as a target deflection angle;
and sending the target deflection angle to the intelligent transportation module.
In this embodiment, the intelligent terminal includes intelligent devices such as a smart phone and a computer.
In this embodiment, the data acquisition module is in communication and/or electrical connection with the intelligent transportation module;
the intelligent transportation module is in communication and/or electrical connection with the obstacle avoidance module.
The above formulas are all formulas with dimensions removed and numerical values calculated, the formulas are formulas which are obtained by acquiring a large amount of data and performing software simulation to obtain the closest actual situation, and preset parameters and preset thresholds in the formulas are set by a person skilled in the art according to the actual situation or are obtained by simulating a large amount of data.
The above embodiments are only for illustrating the technical method of the present invention and not for limiting the same, and it should be understood by those skilled in the art that the technical method of the present invention may be modified or substituted without departing from the spirit and scope of the technical method of the present invention.
Claims (6)
1. The automatic transport system of the AGV is characterized by comprising a data acquisition module, an intelligent transport module and an obstacle avoidance module; the information interaction is carried out between the modules based on the mode of digital signals;
the data acquisition module is used for acquiring position data and video data of the AGV trolley;
and transmitting the location data and the video data to the intelligent transportation module;
the intelligent transportation module is used for receiving the position data and the video data and acquiring an advancing route of the AGV according to the position data and the video data;
acquiring the advancing route of the AGV according to the position data and the video data, wherein the advancing route comprises the following steps of:
the intelligent transportation module receives the location data;
acquiring position coordinates according to the position of the AGV and the two-dimensional model of the factory, wherein the position coordinates are marked as A i (x i ，y i ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein, the value of i is 0,1,2 and … … n;
the intelligent transportation module acquires initial coordinates A of the AGV trolley according to the position coordinates 0 (x 0 ，y 0 )；
Acquiring a goods taking path of the AGV according to the initial coordinates and the goods shelf coordinates;
when the AGV trolley moves forwards according to the goods taking path, the intelligent transportation module detects whether an obstacle appears in the video data;
no obstacle exists, and the AGV trolley continues to advance;
the AGV stops advancing and sends an obstacle avoidance signal to the obstacle avoidance module to acquire a target deflection angle;
controlling the AGV trolley to turn according to the target deflection angle, continuously moving along a straight line, stopping moving when the AGV trolley moves to a position parallel to the obstacle, and acquiring the current position coordinate;
acquiring a new goods taking path of the AGV according to the position coordinates and the goods shelf coordinates, and enabling the AGV to move forwards according to the new goods taking path;
acquiring a delivery path of the AGV according to the goods shelf coordinates and the inventory zone coordinates,
when the AGV trolley moves forwards according to the delivery path, the intelligent transportation module detects whether an obstacle appears in the video data;
no obstacle exists, and the AGV trolley continues to advance;
the AGV stops advancing and sends an obstacle avoidance signal to the obstacle avoidance module to acquire a target deflection angle;
controlling the AGV trolley to turn according to the target deflection angle, continuously moving along a straight line, stopping moving when the AGV trolley moves to a position parallel to the obstacle, and acquiring the current position coordinate;
acquiring a new delivery path of the AGV according to the position coordinates and the inventory zone coordinates, and moving the AGV forwards according to the new delivery path;
the obstacle avoidance module is used for receiving an obstacle avoidance signal, acquiring an obstacle coordinate and acquiring a target deflection angle according to the obstacle coordinate;
the obstacle avoidance module comprises a laser radar;
the laser radar is arranged at the front end of the AGV trolley;
obtaining a target deflection angle according to the obstacle coordinates, comprising the following steps:
after the obstacle avoidance module receives the obstacle avoidance signal, acquiring an obstacle coordinate according to the laser radar; wherein the obstacle coordinates include an obstacle left coordinate and an obstacle right coordinate;
the left coordinate of the obstacle is marked as Z Left side (x Left side ，y Left side )；
The right coordinate of the obstacle is marked as Z Right side (x Right side ，y Right side )；
Setting a standard deflection distance, wherein the standard deflection distance is marked as D Label (C) The unit is m; wherein D is a real number larger than 0, and the standard deflection distance professional sets according to actual conditions;
obtaining a deflection left coordinate according to the left coordinate of the obstacle and a standard deflection distance, wherein the deflection left coordinate is P Left side (x Left side -D Label (C) ，y Left side )；
Obtaining a deflection right coordinate according to the right coordinate of the obstacle and the standard deflection distance, wherein the deflection right coordinate is P Right side (x Right side +D Label (C) ，y Right side )；
When the goods are taken, the < 1 > is obtained through an inverse trigonometric function according to the position coordinates and the goods shelf coordinates of the AGV trolley;
the calculation formula of the angle 1 is as follows: angle 1 = arctan [ (y) Driving device -y i )/(x Driving device -x i )]；
During inventory, acquiring < 1 > through an inverse trigonometric function according to the position coordinates of the AGV trolley and the inventory area coordinates;
the calculation formula of the angle 1 is as follows: angle 1 = arctan [ (y) Storing the articles -y i )/(x Storing the articles -x i )]；
Acquiring +.2 through an inverse trigonometric function according to the position coordinates of the AGV and the left coordinates of the obstacle;
the calculation formula of the angle 2 is as follows: angle 2 = arctan [ (y) Left side -y i )/(x Left side -D Label (C) -x i )]；
Acquiring +.3 through an inverse trigonometric function according to the position coordinates of the AGV and the right coordinates of the obstacle;
the calculation formula of the angle 3 is as follows: angle 3 = arctan [ (y) Right side -y i )/(x Right side +D Label (C) -x i )]
Acquiring a left deflection angle according to the angle 1 and the angle 2;
the calculation formula of the left deflection angle is as follows: left deflection angle = -2-1;
acquiring a right deflection angle according to the angles 1 and 3;
the calculation formula of the right deflection angle is as follows: left deflection angle = -1-3;
setting a deflection angle threshold;
judging whether the left deflection angle and the right deflection angle exceed a deflection angle threshold value or not;
the left deflection angle and the right deflection angle exceed deflection angle thresholds, the obstacle avoidance module sends an obstacle signal to an intelligent terminal of a forklift operator, the forklift operator moves the obstacle, after the obstacle is cleared, the forklift operator sends an obstacle clearing signal to an AGV trolley through the intelligent terminal, and the AGV trolley continues to move forward according to an original path;
the left deflection angle is in the deflection angle threshold range, the right deflection angle exceeds the deflection angle threshold, and the left deflection angle is selected as a target deflection angle;
the right deflection angle is in the deflection angle threshold range, the left deflection angle exceeds the deflection angle threshold, and the right deflection angle is selected as a target deflection angle;
the left deflection angle and the right deflection angle are both in the deflection angle threshold range, and the deflection angle with a smaller deflection angle is selected as a target deflection angle;
transmitting the target deflection angle to the intelligent transportation module;
and sending the target deflection angle to the intelligent transportation module.
2. The automated transport system of an AGV cart of claim 1 wherein the data acquisition module includes an infrared camera and a positioning device;
the infrared camera is fixedly arranged on a high point of the AGV trolley;
the positioning device is fixedly arranged at the middle position of the AGV trolley.
3. The automatic transport system of an AGV cart of claim 2, wherein the data acquisition module acquires position data and video data of the AGV cart, the steps comprising:
setting an acquisition period, wherein the acquisition period is marked as T and the unit is seconds; wherein T is a real number greater than 0;
the positioning device acquires the position of the AGV trolley once every TS, and acquires the position data of the trolley;
the infrared camera collects video data of H meters in front of the AGV once every TS, and the video data is marked as SP i ；
And sending the position data and the video data to the intelligent transportation module.
4. The automatic transport system of an AGV cart according to claim 3, wherein in the embodiment, the intelligent transport module establishes a two-dimensional model rectangular coordinate system of the factory according to a design drawing of the factory, and the specific process includes:
the transportation platform obtains a design drawing of a factory; wherein the design drawing includes a factory shape, a structure, and a size;
establishing a two-dimensional model of the factory according to the design drawing;
dividing the two-dimensional model into areas according to preset rules to obtain a goods shelf area and an inventory area;
establishing a rectangular coordinate system in the two-dimensional model, marking the position of an entrance of a goods shelf area, acquiring the goods shelf coordinates of the goods shelf area, and marking the goods shelf coordinates as S Frame (x Frame ，y Frame )；
Marking the position of the stock area, acquiring the coordinates of the stock area, wherein the coordinates of the stock area are marked as S Storing the articles (x Storing the articles ，y Storing the articles )。
5. The automated transport system of an AGV cart of claim 4 wherein the intelligent terminal includes a smart phone and a computer.
6. The automated transport system of an AGV cart of claim 5, wherein the data acquisition module is in communication and/or electrical connection with the intelligent transport module;
the intelligent transportation module is in communication and/or electrical connection with the obstacle avoidance module.
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